EP3017917A2 - Procede et systeme d'immobilisation d'axes d'un robot industriel - Google Patents

Procede et systeme d'immobilisation d'axes d'un robot industriel Download PDF

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Publication number
EP3017917A2
EP3017917A2 EP15190549.4A EP15190549A EP3017917A2 EP 3017917 A2 EP3017917 A2 EP 3017917A2 EP 15190549 A EP15190549 A EP 15190549A EP 3017917 A2 EP3017917 A2 EP 3017917A2
Authority
EP
European Patent Office
Prior art keywords
motor
source
braking
power electronics
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15190549.4A
Other languages
German (de)
English (en)
Other versions
EP3017917A3 (fr
EP3017917B1 (fr
Inventor
Torsten Geiler
Richard Rudolf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP3017917A2 publication Critical patent/EP3017917A2/fr
Publication of EP3017917A3 publication Critical patent/EP3017917A3/fr
Application granted granted Critical
Publication of EP3017917B1 publication Critical patent/EP3017917B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41279—Brake
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41284—Brake by applying dc to ac motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42284—Stop and brake motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

Definitions

  • the invention relates to a method and a system for controlling an industrial robot, and in particular for safely stopping the axes of an industrial robot.
  • Industrial robots are automatically guided, equipped with three or more freely programmable axes handling machines that are equipped for the automatic handling of objects with appropriate tools. They can be used mobile or stationary. These robots are designed for use in an industrial environment (eg automobile manufacturing) and generally comprise a manipulator (robot arm), a control device and drive means for moving the manipulator. Often both the drive and the manipulator are monitored by sensors. The monitoring is used to control and regulate the drive.
  • the drive can be, for example, an electric drive, which includes power electronics and an electric motor.
  • a short-circuit braking of the motor is known, which should shorten the coasting of the axis.
  • the motor phases of the electric motor are short-circuited with the switching off of the drive energy and thus generates a braking torque.
  • the short-circuit braking is based on the induction of currents in the motor phases of the engine in a known manner, the braking torque generated is dependent on the speed of the motor at the time of switching off the drive energy.
  • the problem of bagging continues.
  • the object of the present invention is therefore to provide a method and a system for safe stopping of the axle (s), which eliminates the disadvantages mentioned and thus enables a quick shutdown of the axle, in particular to reduce or avoid the lingering and sagging of the axle ,
  • This object is achieved with the method for stopping axes of an industrial robot according to claim 1 and the system for controlling an industrial robot according to claim 6.
  • the inventive method for stopping axes and the inventive system for controlling an industrial robot is used in particular to brake the axes of the industrial robot while avoiding a lingering and / or sagging of the axes to a standstill of the axes and the axes in the unmoved state until the restart to hold the axes, ie to stop.
  • the system according to the invention and the method according to the invention make it possible to avoid the thawing and / or Bagging even if a stop of category 0 or 1 takes place, so the drive no drive energy is available.
  • the inventive method or system relates to industrial robots with at least one axis, an associated drive and a corresponding control device.
  • the axis or the axes can be rotationally or translationally pronounced, wherein each axis is preferably assigned a member and a drive, so that the member can be moved translationally or rotationally by means of the drive according to the axis.
  • the drive comprises at least one actuator, which is in the present invention as an electric motor, and associated power electronics.
  • an electric motor Preferably, three-phase synchronous machines or asynchronous machines are used.
  • the power electronics are controlled or regulated by the control device of the industrial robot.
  • the power electronics preferably has a, the motor driving, three-phase inverter and an inverter connected to the intermediate circuit, which is fed from a rectifier.
  • the inverter generates e.g. by means of pulse-width modulation (PWM) from a DC voltage of the DC link a three-phase AC voltage with adjustable frequency and amplitude corresponding to the control signals of the control device.
  • PWM pulse-width modulation
  • the control device can comprise both the hardware necessary for controlling and or regulating the motor, as well as the necessary software.
  • a completely hardware-based control device is also conceivable within the meaning of the invention.
  • the control device is set up to control the motor by means of control signals via the power electronics and to monitor the axes. In this case, the control device sets desired values, such as rotation angle, speed or acceleration of the motor in signals that can be processed by the power electronics to.
  • desired values such as rotation angle, speed or acceleration of the motor in signals that can be processed by the power electronics to.
  • control signals herein includes the case of a single control signal.
  • control device is preferably configured to send signals for stopping the axes.
  • a signal for stopping the axes is sent when the controller detects a control error.
  • a control error can be based on the triggering of a sensor that monitors, for example, the safety of the environment of the industrial robot.
  • a stop signal may be generated by the manual operation of an emergency stop switch or the like.
  • control errors can also be detected by the control device itself by exceeding permissible limit values of the drive and / or of the manipulator. Possible limit values include permissible maximum speeds, accelerations, motor currents and manipulator positions.
  • the signals for stopping the axle can inter alia trigger a mechanical brake as well as an electric braking of the motor.
  • a mechanical brake is preferably assigned to each electric motor of the industrial robot.
  • at least the engines of gravity loaded axles are equipped with a mechanical brake.
  • the mechanical brake is preferably assigned to the motor shaft and designed as a disc brake.
  • other suitable brakes are also possible. Holding brakes have the task to decelerate moving masses or loads from the movement, or to keep them safely at a standstill.
  • an electrical DC braking is provided as electrical braking, which, however, can be combined with other electrical braking methods, such as a short-circuit braking. This is particularly advantageous in very heavy robots and may be useful if the engine at the time of the brake command still has a sufficiently high speed.
  • the DC braking according to the invention is used in this case only when the short-circuit braking has braked the engine to a certain speed.
  • a DC source is provided which is configured to generate a DC current.
  • the DC source is connected to the motor such that a DC current can be injected into at least one motor phase of the motor.
  • the direct current is fed into at least two motor phases. Due to the injected direct current, a static magnetic field is created in the motor, which generates a braking torque and brakes the motor until it stops.
  • the braking torque resulting from the DC braking is independent of the engine speed and preferably corresponds to the maximum torque (holding torque) of the engine.
  • the DC braking is thus suitable in addition to the actual braking of the axis to be stopped and also for holding the axle in the desired position.
  • the DC source is, in accordance with a preferred embodiment of the invention, an independent source of energy other than the power supply of the motor.
  • direct current may be supplied to the motor from the DC source to produce a braking torque (or holding torque).
  • the DC source is an accumulator or a capacitor.
  • Such a DC source and a control device according to the invention can be provided separately for each axis to be stopped.
  • the DC braking of multiple motors ie, the braking several Axes from a DC source and a controller.
  • FIG. 1 an industrial robot 1 is shown, which has a manipulator 2 which is rotatable about a trained as a vertical axis axis A1 on a robot base 3.
  • the manipulator 2 has a total of 6 rotational axes A1-A6, which are driven by electric motors 102, 104, 105, 106.
  • the electric motors of the axles A1 and A3 are not visible due to the perspective.
  • Fig. 2 shows a schematic signal and energy flow diagram of the system for controlling an industrial robot.
  • signal paths are shown as a dashed line, energy paths as a solid line, when it comes to electrical energy paths and as a double line when it comes to kinetic energy paths.
  • a signal for executing a desired movement of an axis 700 is transmitted to the control device 500, for example, by a control program in the form of an engine angle ⁇ , an engine speed ⁇ and / or an engine acceleration ⁇ .
  • This converts the signal for the power electronics 200.
  • a frequency and amplitude variable three-phase AC voltage or an alternating current for driving the motor 100 is generated in accordance with the signal, which drives an axis 700 via the motor shaft.
  • the movements of the motor ⁇ , ⁇ , ⁇ are monitored by a sensor 800 and thus determines the actual values of the movement.
  • the feedback loop closes the feedback loop.
  • Fig. 3 shows a signal and energy flow diagram of the system for controlling an industrial robot according to a first embodiment of the invention.
  • the system comprises an industrial robot having at least one axis 700, a mechanical brake 600, an electric motor 100 with associated power electronics and a control device.
  • the axis 700 is associated with the motor 100, which is controlled by the power electronics.
  • the power electronics comprises a rectifier 201, a DC link 202 and an inverter 203 and is powered by a network source 400 with energy.
  • a DC source 300 is connected to the motor 100 such that DC current can be injected into at least one of the motor phases to generate a braking torque.
  • the engine is monitored by the sensor 800, which relevant engine parameters such as the speed, torque or similar. transmitted to the controller.
  • the controller is in two parts in the illustrated embodiment of the invention and includes a non-secure controller 501 and a secure controller 502. Both the non-secure controller 501 and Secure controller 502 also includes both software and hardware components and may be redundant systems.
  • the non-safe control 501 is set up to control the motor by means of control signals ⁇ ref via the power electronics and to monitor the sensors 800 of the axle (s) so that control of the axles in the closed loop is possible.
  • the safe controller 502 monitors the sensor system 800 and compares the measured values with permissible limit values in order to detect control errors. If the safe control 502 detects a control error, for example, a signal for stopping the axis is output.
  • the safe control gives a signal for stopping the axis S Bm to the mechanical brake and preferably at the same time a signal for stopping the axis S BDC to the DC source out.
  • a signal, preferably from the safe control, output for separating the drive energy is preferably carried out by the addressing of suitable switches, which are designed for example as power transistors such as bipolar transistors or IGBTs.
  • the separation of the drive energy from the engine can be realized by way of example in three different ways; namely, by the entire power electronics from the power source 400 is disconnected (signal S E1 ), or via a separation of the intermediate circuit 201 from the rectifier 202 (signal S E2 ) or by a separation of the power electronics from the motor (signal S E3 ).
  • the three types will suffice, and this is preferably the separation of the power electronics from the motor (signal S E3 ).
  • the different switch arrangements can also be combined.
  • the regulated DC source 300 is part of the power electronics and is configured from the rectifier 201, but preferably from a To be fed intermediate circuit 202 of the power electronics.
  • the DC source 300 is fed from a DC link capacitor, or is the intermediate capacitor, so that the system can perform a DC braking even after separation of the power electronics from the power source 400 (signal S E1 ).
  • the DC source 300 may also be a fully redundant DC source, and is preferably a regulated DC source.
  • the regulated DC source is preferably configured to generate a regulated DC current, which DC current does not exceed a predetermined maximum value, to preclude damage to the motor. Further, the regulated DC source may be arranged to maintain the DC current constant over the period of feeding the DC current into the motor phase.
  • a short-circuit braking is provided in addition to the DC braking according to the invention.
  • the short-circuit braking of the motor precedes DC braking (ie, outputting the signal to stop the axis to DC source S BDC ).
  • the control device outputs a signal for triggering a short-circuit braking, whereby the motor phases are short-circuited.
  • the short circuit generates a braking torque dependent on the engine speed.
  • the motor phases bsp. be short-circuited via a brake resistor.
  • the short-circuit braking can be triggered by the safe control as well as by the non-safe controls. Especially at high engine speeds, the short-circuit braking generates a high braking torque. At low engine speeds, the recoverable braking torque drops sharply, so that then the DC braking is used.
  • outputting of the signal for stopping the axis to the DC source S BDC takes place as a function of engine parameters, such as motor current or engine speed or axis speed.
  • the signal for stopping the axis to the DC source S BDC is triggered only when the engine speed has fallen below a value of 1000 U / min, preferably 100 U / min and more preferably 10 U / min.
  • the braking torque decreases with decreasing speed of the engine. If the braking torque falls below a limit value, it is therefore switched over to the DC braking according to the invention, which acts independently of the rotational speed.
  • the present invention allows for a very quick shutdown of the engine and preferably stops the engine completely before the mechanical brake engages. That the motor is preferably braked electrically to standstill during the tripping delay of the mechanical brake, so that the mechanical brake acts as a pure holding brake. In this way, the mechanical loads on the axle are advantageously minimized.
  • Fig. 4 shows a signal and energy flow diagram according to a second embodiment of the invention.
  • the controller 500 which may include both a safe and a non-safe control, outputs the signal for stopping the axis S 0 .
  • Further control devices 503, 504, 505 receive the signal S 0 and convert the signal for stopping the axis into signals for separating the drive energy S E1 , S E2 , S E3 (in practice the separation will usually take place only at one point) Signals for triggering the DC braking S BDC and in signals for triggering the mechanical braking S Bm order.
  • the power cut-off device 503 generates the signals S E1 , S E2 , and / or S E3 and sends them to the corresponding switches to separate the drive energy from the engine.
  • the DC brake release device 504 generates the signal for triggering the DC braking S BDC and sends this to the DC source 300 to trigger the DC braking.
  • the mechanical brake release device 505 generates a signal for triggering the mechanical braking S Bm and sends this to the mechanical brake 600.
  • the control devices 503, 504, 505 can implement the signal S 0 delayed, so as to achieve a desired temporal signal sequence. Not shown is a device for triggering a short-circuit braking. However, this can be implemented analogously as already described.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Stopping Of Electric Motors (AREA)
  • Manipulator (AREA)
EP15190549.4A 2014-11-06 2015-10-20 Procede et systeme d'immobilisation d'axes d'un robot industriel Active EP3017917B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014222678.3A DE102014222678A1 (de) 2014-11-06 2014-11-06 Verfahren und System zum Stillsetzen von Achsen eines Industrieroboters

Publications (3)

Publication Number Publication Date
EP3017917A2 true EP3017917A2 (fr) 2016-05-11
EP3017917A3 EP3017917A3 (fr) 2016-07-20
EP3017917B1 EP3017917B1 (fr) 2021-11-03

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EP15190549.4A Active EP3017917B1 (fr) 2014-11-06 2015-10-20 Procede et systeme d'immobilisation d'axes d'un robot industriel

Country Status (5)

Country Link
US (1) US9943968B2 (fr)
EP (1) EP3017917B1 (fr)
KR (1) KR20160054424A (fr)
CN (1) CN105583828B (fr)
DE (1) DE102014222678A1 (fr)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
WO2017055180A1 (fr) * 2015-09-30 2017-04-06 KBee AG Dispositif d'articulation
EP3050682B1 (fr) * 2015-01-30 2019-10-16 KUKA Deutschland GmbH Procédé et système de fonctionnement et/ou de surveillance d'une machine multiaxiale
CN111819041A (zh) * 2018-03-19 2020-10-23 川崎重工业株式会社 短路装置及具备该短路装置的机器人系统

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DE102013012448A1 (de) * 2013-07-26 2015-01-29 Kuka Laboratories Gmbh Verfahren und Vorrichtung zum Bremsen einer Roboterachsanordnung
JP6474339B2 (ja) * 2015-09-01 2019-02-27 ファナック株式会社 ブレーキの異常による駆動軸における部材の移動を停止する機械
JP6904201B2 (ja) * 2017-09-27 2021-07-14 セイコーエプソン株式会社 ロボット制御装置、ロボット、及びロボットシステム
JP7286963B2 (ja) * 2018-12-26 2023-06-06 セイコーエプソン株式会社 ロボットシステムおよびロボット制御方法
JP6923581B2 (ja) 2019-03-07 2021-08-18 ファナック株式会社 産業用ロボットの制御システム
CN111327236B (zh) * 2020-02-25 2022-08-23 超同步股份有限公司 一种永磁电机紧急制动控制方法、系统及装置
US20230233277A1 (en) * 2020-06-24 2023-07-27 Covidien Lp Surgical robotic systems
JP2022101984A (ja) * 2020-12-25 2022-07-07 セイコーエプソン株式会社 回生ブレーキの制御方法およびロボットシステム

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Cited By (6)

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Publication number Priority date Publication date Assignee Title
EP3050682B1 (fr) * 2015-01-30 2019-10-16 KUKA Deutschland GmbH Procédé et système de fonctionnement et/ou de surveillance d'une machine multiaxiale
US10953546B2 (en) 2015-01-30 2021-03-23 Kuka Deutschland Gmbh Method and system for operating and/or monitoring a multi-axis machine
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CN111819041A (zh) * 2018-03-19 2020-10-23 川崎重工业株式会社 短路装置及具备该短路装置的机器人系统
CN111819041B (zh) * 2018-03-19 2024-01-09 川崎重工业株式会社 短路装置及具备该短路装置的机器人系统

Also Published As

Publication number Publication date
EP3017917A3 (fr) 2016-07-20
DE102014222678A1 (de) 2016-05-12
CN105583828B (zh) 2018-02-27
KR20160054424A (ko) 2016-05-16
US20160129598A1 (en) 2016-05-12
CN105583828A (zh) 2016-05-18
US9943968B2 (en) 2018-04-17
EP3017917B1 (fr) 2021-11-03

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